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dc.contributor.author
Gracia, Luis  
dc.contributor.author
Sala, Antonio  
dc.contributor.author
Garelli, Fabricio  
dc.date.available
2019-05-13T23:17:12Z  
dc.date.issued
2012-06  
dc.identifier.citation
Gracia, Luis; Sala, Antonio; Garelli, Fabricio; A path conditioning method with trap avoidance; Elsevier Science; Robotics And Autonomous Systems; 60; 6; 6-2012; 862-873  
dc.identifier.issn
0921-8890  
dc.identifier.uri
http://hdl.handle.net/11336/76243  
dc.description.abstract
This work presents a sliding-mode method for robotic path conditioning. The proposal includes a trap avoidance algorithm in order to escape from trap situations, which are analogous to local minima in potential field-based approaches. The sliding-mode algorithm activates when the desired path is about to violate the robot workspace constraints, modifying it as much as necessary in order to fulfill all the constraints and reaching their limit surface at low speed. The proposed path conditioning algorithm can be used on-line, since it does not require a priori knowledge of the desired path, and improves the conventional conservative potential field-based approach in the sense that it fully exploits the robot workspace. The proposed approach can be easily added as an auxiliary supervisory loop to conventional robotic planning algorithms and its implementation is very easy in a few program lines of a microprocessor. The proposed path conditioning is compared through simulation with the conventional potential field-based approach in order to show the benefits of the method. Moreover, the effectiveness of the proposed trap avoidance algorithm is evaluated by simulation for various trap situations.  
dc.format
application/pdf  
dc.language.iso
eng  
dc.publisher
Elsevier Science  
dc.rights
info:eu-repo/semantics/restrictedAccess  
dc.rights.uri
https://creativecommons.org/licenses/by-nc-sa/2.5/ar/  
dc.subject
Collision Avoidance  
dc.subject
Path Planning  
dc.subject
Sliding Mode  
dc.subject.classification
Ingeniería de Sistemas y Comunicaciones  
dc.subject.classification
Ingeniería Eléctrica, Ingeniería Electrónica e Ingeniería de la Información  
dc.subject.classification
INGENIERÍAS Y TECNOLOGÍAS  
dc.title
A path conditioning method with trap avoidance  
dc.type
info:eu-repo/semantics/article  
dc.type
info:ar-repo/semantics/artículo  
dc.type
info:eu-repo/semantics/publishedVersion  
dc.date.updated
2019-05-08T17:31:11Z  
dc.journal.volume
60  
dc.journal.number
6  
dc.journal.pagination
862-873  
dc.journal.pais
Países Bajos  
dc.journal.ciudad
Amsterdam  
dc.description.fil
Fil: Gracia, Luis. Universidad Politécnica de Valencia; España  
dc.description.fil
Fil: Sala, Antonio. Universidad Politécnica de Valencia; España  
dc.description.fil
Fil: Garelli, Fabricio. Universidad Nacional de La Plata; Argentina. Consejo Nacional de Investigaciones Científicas y Técnicas. Centro Científico Tecnológico Conicet - La Plata; Argentina  
dc.journal.title
Robotics And Autonomous Systems  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/doi/http://dx.doi.org/10.1016/j.robot.2012.01.009  
dc.relation.alternativeid
info:eu-repo/semantics/altIdentifier/url/https://www.sciencedirect.com/science/article/pii/S0921889012000218